Method and apparatus of matching lane line data, device and storage medium

An electronic device, comprising:

• at least one processor;
• and
• a memory communicatively connected to the at least one processor,
• wherein the memory stores instructions executable by the at least one processor, and the instructions, when executed by the at least one processor, cause the at least one processor to at least:
• obtain a first data indicating sensed lane lines and a second data indicating map lane lines respectively;
• construct a correlation weight matrix for the first data and the second data, based on differences between the sensed lane lines and the map lane lines, the construction of the correlation weight matrix comprising:
• determination, based on differences in horizontal intercept between the sensed lane lines and the map lane lines, of a first difference matrix,
• determination, based on differences in relative yaw angle between the sensed lane lines and the map lane lines, of a second difference matrix,
• determination, based on control point offsets between the sensed lane lines and the map lane lines, of a third difference matrix, and
• construction, according to the first difference matrix, the second difference matrix and the third difference matrix, of the correlation weight matrix for the first data and the second data;
• and
• match the first data with the second data according to the correlation weight matrix, so as to obtain a third data having an optimal match with the first data from the second data.

A non-transitory computer-readable storage medium having computer instructions therein, the computer instructions, when executed by a computer system, configured to cause the computer system to at least:

• obtain a first data indicating sensed lane lines and a second data indicating map lane lines respectively;
• construct a correlation weight matrix for the first data and the second data, based on differences between the sensed lane lines and the map lane lines, the construction of the correlation weight matrix comprising:
• determination, based on differences in horizontal intercept between the sensed lane lines and the map lane lines, of a first difference matrix,
• determination, based on differences in relative yaw angle between the sensed lane lines and the map lane lines, of a second difference matrix,
• determination, based on control point offsets between the sensed lane lines and the map lane lines, of a third difference matrix, and
• construction, according to the first difference matrix, the second difference matrix and the third difference matrix, of the correlation weight matrix for the first data and the second data;
• and
• match the first data with the second data according to the correlation weight matrix, so as to obtain a third data having an optimal match with the first data from the second data.